• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.7
• /
• pp.575-583
• /
• 2017

This paper describes the design and evaluation of a driving mode decision algorithm for automated driving for merge situations on highways. For the development of a highly automated driving control algorithm for merge situations, the driving mode decision is crucial for merging appropriately. There are two driving modes: lane keeping and lane changing (merging). The merge mode decision is determined based on the state of the surrounding vehicles and the remaining length of the merge lane. In the merge mode decision algorithm, merge possibility and the desired merge position are decided to change the lane safely and quickly. A safety driving envelope is defined based on the desired driving mode using the information on the surrounding vehicles' behaviors. To obtain the desired steering angle and longitudinal acceleration for maintaining the subject vehicle in the safe driving envelope, a motion planning controller is designed using model predictive control (MPC), with constraints that are decided considering the vehicle dynamics, safe driving envelope, and actuator limit. The proposed control algorithm has been evaluated via computer simulation studies.

• Journal of the Korea Concrete Institute
• /
• v.20 no.1
• /
• pp.67-75
• /
• 2008

An engineered cementitious composite produced with slag particles (Slag-ECC) had been developed based on micromechanical principle. Base grain ingredients were properly selected, and then the mixture proportion was optimized to be capable of achieving robust tensile ductility in the hardened state. The rheological design is performed in the present study by optimizing the amount of admixtures suitable for self-consolidating casting and shotcreting process in the fresh state. A special focus is placed on the rheological control which is directly applicable to the construction in field, using prepackaged product with all pulverized ingredients. To control the rheological properties of the composite, which possesses different fluid properties to facilitate two types of processing (i.e., self-consolidating and shotcreting processing), the viscosity change of the cement paste suspensions over time was initially investigated, and then the proper dosage of the admixtures in the cement paste was selected. The two types of mixture proportion were then optimized by self-consolidating & shotcreting tests. A series of self-consolidating and shotcreting tests demonstrated excellent self-consolidation property and sprayability of the Slag-ECC. The rheological properties altered through this approach were revealed to be effective in obtaining Slag-ECC hardened properties, represented by pseudo strain-hardening behavior in uniaxial tension, allowing the readily achievement of the desired function of the fresh Slag-ECC. These ductile composites with self-consolidating and shotcreting processing can be broadly utilized for a variety of applications, e.g., in strengthening seismic resistant structures with congested reinforcements, or in repairing deteriorated infrastructures by shotcreting process.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.27 no.1
• /
• pp.9-16
• /
• 2014

Using a level set method and topological derivatives, a topological shape optimization method that is independent of an initial design is developed for linearly elastic structures. In the level set method, the initial domain is kept fixed and its boundary is represented by an implicit moving boundary embedded in the level set function, which facilitates to handle complicated topological shape changes. The "Hamilton-Jacobi(H-J)" equation and computationally robust numerical technique of "up-wind scheme" lead the initial implicit boundary to an optimal one according to the normal velocity field while minimizing the objective function of compliance and satisfying the constraint of allowable volume. Based on the asymptotic regularization concept, the topological derivative is considered as the limit of shape derivative as the radius of hole approaches to zero. The required velocity field to update the H-J equation is determined from the descent direction of Lagrangian derived from optimality conditions. It turns out that the initial holes are not required to get the optimal result since the developed method can create holes whenever and wherever necessary using indicators obtained from the topological derivatives. It is demonstrated that the proper choice of control parameters for nucleation is crucial for efficient optimization process.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.17 no.6
• /
• pp.521-526
• /
• 2016

This paper suggests a new design that makes use of rotary inertia that can allow autonomous movement of an autonomous colonoscope robot in the colon of a patient as a locomotive mechanism. As commercial colonoscopy causes a lengthy time of pain and discomfort to the patients when colonoscopy patients are reluctant to receive surgery, there is a tendency to avoid the test in the early diagnosis of colorectal cancer. To solve this problem, research has been conducted on the next generation of robotic colonoscopes that can reduce the discomfort and pain by moving autonomously within the colon of the patients. In the driving mechanism utilizing the rotational inertia, a flywheel is driven by a motor to store energy and produce rotational inertia. By the energy stored and released by the flywheel, the stick phenomenon that occurs when the robot is running in the intestine can be overcome effectively. To do this, a controller that can control the velocity of the flywheel and is robust to high frequency noise was designed and implemented. The driving mechanism using the rotational inertia presented here showed that the structure is also effective and the experiment can be run easily compared to another mechanism.

• International Journal of Automotive Technology
• /
• v.7 no.7
• /
• pp.827-832
• /
• 2006

Occupant classification and position detection have been significant research areas in intelligent safety systems in the automotive field. The detection and classification of seat occupancy open up new ways to control the safety system. This paper deals with a novel algorithm development, hardware implementation and testing of a prototype intelligent safety system for occupant classification and position detection for in-vehicle environment. Borland C++ program is used to develop the novel algorithm interface between the sensor and data acquisition system. MEMS strain gauge hermatic pressure sensor containing micromachined integrated circuits is installed inside the passenger seat. The analog output of the sensor is connected with a connector to a PCI-9111 DG data acquisition card for occupancy detection, classification and position detection. The algorithm greatly improves the detection of whether an occupant is present or absent, and the classification of either adult, child or non-human object is determined from weights using the sensor. A simple computation algorithm provides the determination of the occupant's appropriate position using centroidal calculation. A real time operation is achieved with the system. The experimental results demonstrate that the performance of the implemented prototype is robust for occupant classification and position detection. This research may be applied in intelligent airbag design for efficient deployment.

• Journal of the Institute of Electronics Engineers of Korea SD
• /
• v.48 no.8
• /
• pp.45-52
• /
• 2011

Flash memory is becoming widely prevalent in various area due to high performance, non-volatile features, low power, and robust durability. As price-per-bit is decreased, NAND flash based SSDs (Solid State Disk) have been attracting attention as the next generation storage device, which can replace HDDs (Hard Disk Drive) which have mechanical properties. Especially for the single package SSD, if channel number or FIFO buffer size per channel increases to improve performance, the size of a controller and I/O pin count will increase linearly with channel numbers and form factor will be affected. We propose a novel technique which can minimize form factor by optimizing the number of NAND flash channels and the size of interface FIFO buffer in the SSD. For SSD with 10 channel and double buffer, the experimental results show that buffer block size can be reduced about 73% without performance degradation and total size of a controller can be reduced about 40% because control block per channel and I/O pin count decrease according to decrease channel number.

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.36S no.6
• /
• pp.37-44
• /
• 1999

In this paper, we present a new sliding surface with a time-varying repeated root for fast and robust tracking of higher-order uncertain systems. The repeated root is moved to target one with stabilizing the closed-loop time-varying system in sliding mode. This initial root is obtained so that shifting distance of the surface may be minimized with respect to an initial error, and the intercept is produced so that the surface may pass the initial error. Under the allowable input, fast shifting of the surface and movement of the repeated root enable the error convergence rate to be increased. The proposed sliding mode control makes the error always remain on the surface from the beginning, and therefore, the system is more insensitive to parameter uncertainties and external disturbances. In simulation, the effectiveness of the proposed method is proved by comparison with the conventional one.

• Journal of Information Display
• /
• v.8 no.2
• /
• pp.10-14
• /
• 2007

A blazed $GxL^{TM}$ device is described as having high optical efficiency (> 70% for RGB lasers), and high contrast ratio (> 10,000:1), and that is highly reliable when used in a large-area laser projection system. It has a robust design and precise stress control technology to maintain a uniform shape (bow and tilt) of more than 6,000 ribbons, a $0.25-{\mu}m$ CMOS compatible fabrication processing and planarization techniques to reduce fluctuation of the ribbons, and a reliable Al-Cu reflective film that provided protection against a high-power laser. No degradation in characteristics of the GxL device is observed after operating a 5,000- lumen projector for 2,000 hours and conducting 2,000 temperature cycling tests at $-20^{\circ}C$ and $+80^{\circ}C$. At the 2005 World Exposition in Aichi, Japan the world's largest laser projection screen with a size of 2005 inches (10 m ${\times}$ 50 m) and 6 million pixels (1,080 ${\times}$ 5,760) was demonstrated.

• Journal of Electrical Engineering and Technology
• /
• v.8 no.2
• /
• pp.252-261
• /
• 2013

In this paper, a nonlinear adaptive damping controller based on radial basis function neural network (RBFNN), which can infinitely approximate to nonlinear system, is proposed for thyristor controlled series capacitor (TCSC). The proposed TCSC adaptive damping controller can not only have the characteristics of the conventional PID, but adjust the parameters of PID controller online using identified Jacobian information from RBFNN. Hence, it has strong adaptability to the variation of the system operating condition. The effectiveness of the proposed controller is tested on a two-machine five-bus power system and a four-machine two-area power system under different operating conditions in comparison with the lead-lag damping controller tuned by evolutionary algorithm (EA). Simulation results show that the proposed damping controller achieves good robust performance for damping the low frequency oscillations under different operating conditions and is superior to the lead-lag damping controller tuned by EA.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.10 no.4
• /
• pp.411-419
• /
• 2005

In this paper, a sliding mode observer for solar array current estimation in the photovoltaic power generation system is presented. The solar array current estimation Information is obtained from the sliding mode observer and fed into the maximum power point tracker to update the reference voltage. The parameter values such as inverter dc link capacitances cm be changed up to 50$\%$ from their nominal values and the linear observer can't estimate the correct state values under the parameter variations and noisy environments. The configuration of sliding mode observer is simple, but it shows the robust tracking performance against parameter variations and modeling uncertainties. In this paper, the method for constructing the sliding mode observer using equivalent control input is presented and the convergence of the proposed observer is verified by the Lyapunov method. The mathematical modeling and the experimental results verify the validity of the proposed method.